#ifndef __GO_M8010_6_H
#define __GO_M8010_6_H

typedef struct
{
	uint8_t ID;
	uint8_t STATUS;
	float Tau;
	float w;
	float Theta;
	int8_t TEMP;
	uint8_t MERROR;
	uint16_t FORCE;
}GO_M8010_6_Motor;//M3508电机状态结构体(减速比3591:187(≈19:1),转矩系数0.3N·m/A)

extern GO_M8010_6_Motor GO_M8010_6_MotorStatus;//M3508电机状态数组
extern float StartPosition;

void GO_M8010_6_Init(void);
void GO_M8010_6_Send(uint8_t ID,float Tau,float w,float Theta,float Kp,float Kw);
void GO_M8010_6_ControlPosition(uint8_t ID,float Position);//弧度

#endif
